Six-dimensional force sense sensor for minimally invasive surgical robot

Abstract

The invention provides a six-dimensional force sense sensor for a minimally invasive surgical robot. The six-dimensional force sense sensor comprises two cross-shaped-shaped beam elastic bodies, two baffles and an elastic body substrate, wherein arc I-shaped holes which are orthogonally distributed are formed in the cross-shaped beam elastic bodies respectively, the elastic bodies are installed at the head end and the tail end of the elastic body substrate in a clearance fit mode in the direction of strut beams stretched out of cross-shaped beams, and the elastic bodies are fixed by the two baffles. Four strain gauges are pasted on each of the four strut beams of each elastic body cross-shaped beam and used for measuring corresponding force or force torque, the four strain gauges on each strut beam form an equal-arm full bridge circuit, four signal lines are led from each equal-arm full bridge circuit and bundled into one bundle after being wrapped by a heat shrink tube in a hot shrinkage mode, and then the bundle is led out of a mechanical hand through a mechanical hand hollow metal round rod from space regions among the cross-shaped beam strum beams. The sensor is installed at the position close to an end effector of the minimally invasive surgical mechanical hand and measures six-dimensional force sense components, and the negative influence of the friction of the mechanical hand and an incision on data measured by the sensor is avoided.

Description

technical field [0001] The invention relates to the technical field of minimally invasive surgical robots, in particular to a six-dimensional force sensor for minimally invasive surgical robots. Background technique [0002] Robotic surgery has gradually become the main trend of minimally invasive surgery. The robot breaks through the limitations of human eyes and arms, and has stability, reproducibility and accuracy that cannot be compared with human hands, preventing possible shaking of human hands. Robotic surgery reduces surgical trauma and blood loss; reduces perioperative sequelae and complications; expands the age range of patients who can undergo surgery and makes it possible for some critically ill patients to undergo surgery. [0003] In traditional surgery, when the doctor holds the surgical instrument to operate the patient, the contact force between the surgical instrument and the affected area can be directly transmitted to the doctor through the surgical inst...

AI Technical Summary

Problems solved by technology

But the sensor can only measure force and lacks the ability to measure torque

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